Consolidate WASM bindings test files
PiperOrigin-RevId: 827888382 Change-Id: I4ded54cd49182de0b4243770e2507038ad6fac7a
This commit is contained in:
Matija Kecman
committed by
Copybara-Service
Copybara-Service
parent
2018b8c494
commit
9b71fc728d
@@ -1,62 +0,0 @@
|
|||||||
# Copyright 2025 DeepMind Technologies Limited
|
|
||||||
#
|
|
||||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
||||||
# you may not use this file except in compliance with the License.
|
|
||||||
# You may obtain a copy of the License at
|
|
||||||
#
|
|
||||||
# http://www.apache.org/licenses/LICENSE-2.0
|
|
||||||
#
|
|
||||||
# Unless required by applicable law or agreed to in writing, software
|
|
||||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
||||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
||||||
# See the License for the specific language governing permissions and
|
|
||||||
# limitations under the License.
|
|
||||||
|
|
||||||
from absl.testing import absltest
|
|
||||||
|
|
||||||
from introspect import ast_nodes
|
|
||||||
|
|
||||||
from wasm.codegen.generators import enums
|
|
||||||
|
|
||||||
|
|
||||||
class EnumsGeneratorTest(absltest.TestCase):
|
|
||||||
|
|
||||||
def test_generate_enum_bindings(self):
|
|
||||||
|
|
||||||
generator = enums.Generator({
|
|
||||||
"TestEnum": ast_nodes.EnumDecl(
|
|
||||||
name="TestEnum",
|
|
||||||
declname="enum TestEnum_",
|
|
||||||
values={"FIRST_VAL": 0, "SECOND_VAL": 1, "THIRD_VAL": 2},
|
|
||||||
),
|
|
||||||
"AnotherEnum": ast_nodes.EnumDecl(
|
|
||||||
name="AnotherEnum",
|
|
||||||
declname="enum AnotherEnum_",
|
|
||||||
values={"ALPHA": 100, "BETA": 200},
|
|
||||||
),
|
|
||||||
"EmptyEnum": ast_nodes.EnumDecl(
|
|
||||||
name="EmptyEnum",
|
|
||||||
declname="enum EmptyEnum_",
|
|
||||||
values={},
|
|
||||||
),
|
|
||||||
})
|
|
||||||
|
|
||||||
expected_code = """ enum_<TestEnum>("TestEnum")
|
|
||||||
.value("FIRST_VAL", FIRST_VAL)
|
|
||||||
.value("SECOND_VAL", SECOND_VAL)
|
|
||||||
.value("THIRD_VAL", THIRD_VAL);
|
|
||||||
|
|
||||||
enum_<AnotherEnum>("AnotherEnum")
|
|
||||||
.value("ALPHA", ALPHA)
|
|
||||||
.value("BETA", BETA);
|
|
||||||
|
|
||||||
enum_<EmptyEnum>("EmptyEnum");
|
|
||||||
"""
|
|
||||||
|
|
||||||
actual_code = generator.generate()
|
|
||||||
|
|
||||||
self.assertEqual(actual_code, expected_code)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
absltest.main()
|
|
||||||
+39
@@ -16,9 +16,48 @@ from absl.testing import absltest
|
|||||||
|
|
||||||
from introspect import ast_nodes
|
from introspect import ast_nodes
|
||||||
|
|
||||||
|
from wasm.codegen.generators import enums
|
||||||
from wasm.codegen.generators import functions
|
from wasm.codegen.generators import functions
|
||||||
|
|
||||||
|
|
||||||
|
class EnumsGeneratorTest(absltest.TestCase):
|
||||||
|
|
||||||
|
def test_generate_enum_bindings(self):
|
||||||
|
|
||||||
|
generator = enums.Generator({
|
||||||
|
"TestEnum": ast_nodes.EnumDecl(
|
||||||
|
name="TestEnum",
|
||||||
|
declname="enum TestEnum_",
|
||||||
|
values={"FIRST_VAL": 0, "SECOND_VAL": 1, "THIRD_VAL": 2},
|
||||||
|
),
|
||||||
|
"AnotherEnum": ast_nodes.EnumDecl(
|
||||||
|
name="AnotherEnum",
|
||||||
|
declname="enum AnotherEnum_",
|
||||||
|
values={"ALPHA": 100, "BETA": 200},
|
||||||
|
),
|
||||||
|
"EmptyEnum": ast_nodes.EnumDecl(
|
||||||
|
name="EmptyEnum",
|
||||||
|
declname="enum EmptyEnum_",
|
||||||
|
values={},
|
||||||
|
),
|
||||||
|
})
|
||||||
|
|
||||||
|
expected_code = """ enum_<TestEnum>("TestEnum")
|
||||||
|
.value("FIRST_VAL", FIRST_VAL)
|
||||||
|
.value("SECOND_VAL", SECOND_VAL)
|
||||||
|
.value("THIRD_VAL", THIRD_VAL);
|
||||||
|
|
||||||
|
enum_<AnotherEnum>("AnotherEnum")
|
||||||
|
.value("ALPHA", ALPHA)
|
||||||
|
.value("BETA", BETA);
|
||||||
|
|
||||||
|
enum_<EmptyEnum>("EmptyEnum");
|
||||||
|
"""
|
||||||
|
|
||||||
|
actual_code = generator.generate()
|
||||||
|
|
||||||
|
self.assertEqual(actual_code, expected_code)
|
||||||
|
|
||||||
class FunctionsGeneratorTest(absltest.TestCase):
|
class FunctionsGeneratorTest(absltest.TestCase):
|
||||||
|
|
||||||
def setUp(self):
|
def setUp(self):
|
||||||
@@ -1,51 +0,0 @@
|
|||||||
# Copyright 2025 DeepMind Technologies Limited
|
|
||||||
#
|
|
||||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
||||||
# you may not use this file except in compliance with the License.
|
|
||||||
# You may obtain a copy of the License at
|
|
||||||
#
|
|
||||||
# http://www.apache.org/licenses/LICENSE-2.0
|
|
||||||
#
|
|
||||||
# Unless required by applicable law or agreed to in writing, software
|
|
||||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
||||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
||||||
# See the License for the specific language governing permissions and
|
|
||||||
# limitations under the License.
|
|
||||||
|
|
||||||
"""Tests for the code_builder module."""
|
|
||||||
|
|
||||||
from absl.testing import absltest
|
|
||||||
from wasm.codegen.helpers import code_builder
|
|
||||||
|
|
||||||
|
|
||||||
class CodeBuilderTest(absltest.TestCase):
|
|
||||||
|
|
||||||
def test_code_builder_functionality(self):
|
|
||||||
"""Test nested indentation blocks."""
|
|
||||||
builder = code_builder.CodeBuilder(indent_str=" ")
|
|
||||||
builder.line("let a = 1")
|
|
||||||
with builder.block("function myFunc()"):
|
|
||||||
builder.line("let flag = true")
|
|
||||||
with builder.block("while (flag)"):
|
|
||||||
builder.line("a++")
|
|
||||||
builder.line("flag = a < 10")
|
|
||||||
builder.line("return a")
|
|
||||||
builder.line("print('Done')")
|
|
||||||
|
|
||||||
expected_lines = [
|
|
||||||
"let a = 1",
|
|
||||||
"function myFunc() {",
|
|
||||||
" let flag = true",
|
|
||||||
" while (flag) {",
|
|
||||||
" a++",
|
|
||||||
" flag = a < 10",
|
|
||||||
" }",
|
|
||||||
" return a",
|
|
||||||
"}",
|
|
||||||
"print('Done')",
|
|
||||||
]
|
|
||||||
self.assertEqual(builder.to_string(), "\n".join(expected_lines))
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
absltest.main()
|
|
||||||
@@ -1,37 +0,0 @@
|
|||||||
# Copyright 2025 DeepMind Technologies Limited
|
|
||||||
#
|
|
||||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
||||||
# you may not use this file except in compliance with the License.
|
|
||||||
# You may obtain a copy of the License at
|
|
||||||
#
|
|
||||||
# http://www.apache.org/licenses/LICENSE-2.0
|
|
||||||
#
|
|
||||||
# Unless required by applicable law or agreed to in writing, software
|
|
||||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
||||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
||||||
# See the License for the specific language governing permissions and
|
|
||||||
# limitations under the License.
|
|
||||||
|
|
||||||
from absl.testing import absltest
|
|
||||||
from wasm.codegen.helpers import common
|
|
||||||
|
|
||||||
|
|
||||||
class CommonUtilsTest(absltest.TestCase):
|
|
||||||
|
|
||||||
def test_uppercase_first_letter(self):
|
|
||||||
self.assertEqual(common.uppercase_first_letter(""), "")
|
|
||||||
self.assertEqual(common.uppercase_first_letter("hello"), "Hello")
|
|
||||||
self.assertEqual(common.uppercase_first_letter("1st place"), "1st place")
|
|
||||||
self.assertEqual(common.uppercase_first_letter("!wow"), "!wow")
|
|
||||||
self.assertEqual(
|
|
||||||
common.uppercase_first_letter(" leading space"), " leading space"
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_try_cast_to_scalar_type(self):
|
|
||||||
self.assertEqual(common.try_cast_to_scalar_type("123"), 123)
|
|
||||||
self.assertEqual(common.try_cast_to_scalar_type("123.456"), 123.456)
|
|
||||||
self.assertEqual(common.try_cast_to_scalar_type("abc"), "abc")
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
absltest.main()
|
|
||||||
@@ -1,241 +0,0 @@
|
|||||||
# Copyright 2025 DeepMind Technologies Limited
|
|
||||||
#
|
|
||||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
||||||
# you may not use this file except in compliance with the License.
|
|
||||||
# You may obtain a copy of the License at
|
|
||||||
#
|
|
||||||
# http://www.apache.org/licenses/LICENSE-2.0
|
|
||||||
#
|
|
||||||
# Unless required by applicable law or agreed to in writing, software
|
|
||||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
||||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
||||||
# See the License for the specific language governing permissions and
|
|
||||||
# limitations under the License.
|
|
||||||
|
|
||||||
from absl.testing import absltest
|
|
||||||
from introspect import ast_nodes
|
|
||||||
|
|
||||||
from wasm.codegen.helpers import constants
|
|
||||||
from wasm.codegen.helpers import function_utils
|
|
||||||
|
|
||||||
|
|
||||||
class FunctionUtilsTest(absltest.TestCase):
|
|
||||||
|
|
||||||
def setUp(self):
|
|
||||||
super().setUp()
|
|
||||||
self.struct_type = ast_nodes.ValueType("MyStruct")
|
|
||||||
self.ptr_to_int = ast_nodes.PointerType(ast_nodes.ValueType("int"))
|
|
||||||
self.func_ret_ptr_int = ast_nodes.FunctionDecl(
|
|
||||||
"func_pi", ast_nodes.PointerType(ast_nodes.ValueType("int")), [], "doc"
|
|
||||||
)
|
|
||||||
self.func_ret_ptr_struct = ast_nodes.FunctionDecl(
|
|
||||||
"func_ps",
|
|
||||||
ast_nodes.PointerType(ast_nodes.ValueType("MyStruct")),
|
|
||||||
[],
|
|
||||||
"doc",
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_return_is_value_of_type(self):
|
|
||||||
self.assertTrue(
|
|
||||||
function_utils.return_is_value_of_type(
|
|
||||||
ast_nodes.FunctionDecl(
|
|
||||||
"func_i", ast_nodes.ValueType("int"), [], "doc"
|
|
||||||
),
|
|
||||||
constants.PRIMITIVE_TYPES,
|
|
||||||
)
|
|
||||||
)
|
|
||||||
self.assertFalse(
|
|
||||||
function_utils.return_is_value_of_type(
|
|
||||||
ast_nodes.FunctionDecl(
|
|
||||||
"func_s", ast_nodes.ValueType("MyStruct"), [], "doc"
|
|
||||||
),
|
|
||||||
constants.PRIMITIVE_TYPES,
|
|
||||||
)
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_return_is_pointer_to_struct(self):
|
|
||||||
self.assertTrue(
|
|
||||||
function_utils.return_is_pointer_to_struct(self.func_ret_ptr_struct)
|
|
||||||
)
|
|
||||||
self.assertFalse(
|
|
||||||
function_utils.return_is_pointer_to_struct(self.func_ret_ptr_int)
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_return_is_pointer_to_primitive(self):
|
|
||||||
self.assertTrue(
|
|
||||||
function_utils.return_is_pointer_to_primitive(self.func_ret_ptr_int)
|
|
||||||
)
|
|
||||||
self.assertFalse(
|
|
||||||
function_utils.return_is_pointer_to_primitive(self.func_ret_ptr_struct)
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_param_is_primitive_value(self):
|
|
||||||
param_prim_val = ast_nodes.FunctionParameterDecl(
|
|
||||||
"prim_v", ast_nodes.ValueType("int")
|
|
||||||
)
|
|
||||||
param_arr = ast_nodes.FunctionParameterDecl(
|
|
||||||
"arr_v", ast_nodes.ArrayType(ast_nodes.ValueType("int"), extents=(10,))
|
|
||||||
)
|
|
||||||
|
|
||||||
self.assertTrue(function_utils.param_is_primitive_value(param_prim_val))
|
|
||||||
self.assertFalse(function_utils.param_is_primitive_value(param_arr))
|
|
||||||
|
|
||||||
def test_param_is_pointer_to_primitive_value(self):
|
|
||||||
param_ptr_to_prim = ast_nodes.FunctionParameterDecl(
|
|
||||||
"p_prim", self.ptr_to_int
|
|
||||||
)
|
|
||||||
param_arr_of_prim = ast_nodes.FunctionParameterDecl(
|
|
||||||
"a_prim", ast_nodes.ArrayType(ast_nodes.ValueType("int"), extents=(10,))
|
|
||||||
)
|
|
||||||
param_ptr_to_struct = ast_nodes.FunctionParameterDecl(
|
|
||||||
name="p_struct", type=ast_nodes.PointerType(inner_type=self.struct_type)
|
|
||||||
)
|
|
||||||
self.assertTrue(
|
|
||||||
function_utils.param_is_pointer_to_primitive_value(param_ptr_to_prim)
|
|
||||||
)
|
|
||||||
self.assertTrue(
|
|
||||||
function_utils.param_is_pointer_to_primitive_value(param_arr_of_prim)
|
|
||||||
)
|
|
||||||
self.assertFalse(
|
|
||||||
function_utils.param_is_pointer_to_primitive_value(param_ptr_to_struct)
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_param_is_pointer_to_struct(self):
|
|
||||||
param_arr_of_struct = ast_nodes.FunctionParameterDecl(
|
|
||||||
"a_struct", ast_nodes.ArrayType(self.struct_type, extents=(5,))
|
|
||||||
)
|
|
||||||
param_ptr_to_struct = ast_nodes.FunctionParameterDecl(
|
|
||||||
"p_struct", ast_nodes.PointerType(self.struct_type)
|
|
||||||
)
|
|
||||||
param_ptr_to_ptr = ast_nodes.FunctionParameterDecl(
|
|
||||||
"p_ptr", ast_nodes.PointerType(self.ptr_to_int)
|
|
||||||
)
|
|
||||||
self.assertTrue(
|
|
||||||
function_utils.param_is_pointer_to_struct(param_arr_of_struct)
|
|
||||||
)
|
|
||||||
self.assertTrue(
|
|
||||||
function_utils.param_is_pointer_to_struct(param_ptr_to_struct)
|
|
||||||
)
|
|
||||||
self.assertFalse(
|
|
||||||
function_utils.param_is_pointer_to_struct(param_ptr_to_ptr)
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_should_be_wrapped_with_primitive_ptr_return(self):
|
|
||||||
func = ast_nodes.FunctionDecl(
|
|
||||||
name="get_data",
|
|
||||||
return_type=ast_nodes.PointerType(ast_nodes.ValueType("int")),
|
|
||||||
parameters=tuple(),
|
|
||||||
doc="Returns int pointer",
|
|
||||||
)
|
|
||||||
self.assertTrue(function_utils.should_be_wrapped(func))
|
|
||||||
|
|
||||||
def test_generate_function_wrapper_for_simple_func(self):
|
|
||||||
func = ast_nodes.FunctionDecl(
|
|
||||||
name="get_id",
|
|
||||||
return_type=ast_nodes.ValueType("int"),
|
|
||||||
parameters=tuple(),
|
|
||||||
doc="Returns an integer ID",
|
|
||||||
)
|
|
||||||
result = function_utils.generate_function_wrapper(func)
|
|
||||||
self.assertEqual(
|
|
||||||
result,
|
|
||||||
"""int get_id_wrapper()
|
|
||||||
{
|
|
||||||
return get_id();
|
|
||||||
}""",
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_generate_function_wrapper_checking_param(self):
|
|
||||||
parameters = (
|
|
||||||
ast_nodes.FunctionParameterDecl(
|
|
||||||
name="mat",
|
|
||||||
type=ast_nodes.PointerType(
|
|
||||||
inner_type=ast_nodes.ValueType(name="mjtNum", is_const=True),
|
|
||||||
),
|
|
||||||
),
|
|
||||||
ast_nodes.FunctionParameterDecl(
|
|
||||||
name="nr",
|
|
||||||
type=ast_nodes.ValueType(name="int"),
|
|
||||||
),
|
|
||||||
)
|
|
||||||
func = ast_nodes.FunctionDecl(
|
|
||||||
name="get_id",
|
|
||||||
return_type=ast_nodes.ValueType("int"),
|
|
||||||
parameters=parameters,
|
|
||||||
doc="Returns an integer ID",
|
|
||||||
)
|
|
||||||
result = function_utils.generate_function_wrapper(func)
|
|
||||||
self.assertEqual(
|
|
||||||
result,
|
|
||||||
"""int get_id_wrapper(const NumberArray& mat, int nr)
|
|
||||||
{
|
|
||||||
UNPACK_ARRAY(mjtNum, mat);
|
|
||||||
return get_id(mat_.data(), nr);
|
|
||||||
}""",
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_get_params_string_with_struct_ptr(self):
|
|
||||||
param = ast_nodes.FunctionParameterDecl(
|
|
||||||
name="my_struct",
|
|
||||||
type=ast_nodes.PointerType(ast_nodes.ValueType("mystruct")),
|
|
||||||
)
|
|
||||||
result = function_utils.get_params_string((param,))
|
|
||||||
self.assertEqual(result, ["Mystruct& my_struct"])
|
|
||||||
|
|
||||||
def test_get_params_string_maybe_with_conversion_struct_ptr(self):
|
|
||||||
param = ast_nodes.FunctionParameterDecl(
|
|
||||||
name="s",
|
|
||||||
type=ast_nodes.PointerType(ast_nodes.ValueType("customstruct")),
|
|
||||||
)
|
|
||||||
result = function_utils.get_params_string_maybe_with_conversion((param,))
|
|
||||||
self.assertEqual(result, ["s.get()"])
|
|
||||||
|
|
||||||
def test_get_compatible_return_call(self):
|
|
||||||
func = ast_nodes.FunctionDecl(
|
|
||||||
name="noop",
|
|
||||||
return_type=ast_nodes.ValueType("void"),
|
|
||||||
parameters=tuple(),
|
|
||||||
doc="does nothing",
|
|
||||||
)
|
|
||||||
result = function_utils.get_compatible_return_call(func, "noop()")
|
|
||||||
self.assertEqual(result, "noop()")
|
|
||||||
|
|
||||||
def test_get_compatible_return_type(self):
|
|
||||||
func = ast_nodes.FunctionDecl(
|
|
||||||
name="get_name",
|
|
||||||
return_type=ast_nodes.PointerType(ast_nodes.ValueType("char")),
|
|
||||||
parameters=tuple(),
|
|
||||||
doc="returns name",
|
|
||||||
)
|
|
||||||
result = function_utils.get_compatible_return_type(func)
|
|
||||||
self.assertEqual(result.strip(), "std::string")
|
|
||||||
|
|
||||||
def test_get_converted_struct_to_class(self):
|
|
||||||
func = ast_nodes.FunctionDecl(
|
|
||||||
name="get_struct",
|
|
||||||
return_type=ast_nodes.PointerType(ast_nodes.ValueType("mystruct")),
|
|
||||||
parameters=tuple(),
|
|
||||||
doc="returns struct",
|
|
||||||
)
|
|
||||||
result = function_utils.get_converted_struct_to_class(func, "get_struct()")
|
|
||||||
self.assertIn("mystruct* result = get_struct();", result)
|
|
||||||
self.assertIn("return Mystruct(result)", result)
|
|
||||||
|
|
||||||
def test_is_excluded_function_name(self):
|
|
||||||
self.assertTrue(function_utils.is_excluded_function_name("mjr_function"))
|
|
||||||
self.assertTrue(function_utils.is_excluded_function_name("mjui_function"))
|
|
||||||
self.assertTrue(function_utils.is_excluded_function_name("mju_malloc"))
|
|
||||||
self.assertTrue(function_utils.is_excluded_function_name("mj_makeData"))
|
|
||||||
self.assertFalse(
|
|
||||||
function_utils.is_excluded_function_name("mjv_updateScene")
|
|
||||||
)
|
|
||||||
self.assertFalse(
|
|
||||||
function_utils.is_excluded_function_name("mj_normalFunction")
|
|
||||||
)
|
|
||||||
self.assertFalse(
|
|
||||||
function_utils.is_excluded_function_name("mju_someOtherFunction")
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
absltest.main()
|
|
||||||
@@ -0,0 +1,907 @@
|
|||||||
|
# Copyright 2025 DeepMind Technologies Limited
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
|
||||||
|
"""Tests for helper modules."""
|
||||||
|
|
||||||
|
from absl.testing import absltest
|
||||||
|
from introspect import ast_nodes
|
||||||
|
|
||||||
|
from wasm.codegen.helpers import code_builder
|
||||||
|
from wasm.codegen.helpers import common
|
||||||
|
from wasm.codegen.helpers import constants
|
||||||
|
from wasm.codegen.helpers import function_utils
|
||||||
|
from wasm.codegen.helpers import struct_constructor_code_builder
|
||||||
|
from wasm.codegen.helpers import struct_field_code_builder
|
||||||
|
from wasm.codegen.helpers import struct_field_handler
|
||||||
|
from wasm.codegen.helpers import structs_parser
|
||||||
|
|
||||||
|
|
||||||
|
class CodeBuilderTest(absltest.TestCase):
|
||||||
|
|
||||||
|
def test_code_builder_functionality(self):
|
||||||
|
"""Test nested indentation blocks."""
|
||||||
|
builder = code_builder.CodeBuilder(indent_str=" ")
|
||||||
|
builder.line("let a = 1")
|
||||||
|
with builder.block("function myFunc()"):
|
||||||
|
builder.line("let flag = true")
|
||||||
|
with builder.block("while (flag)"):
|
||||||
|
builder.line("a++")
|
||||||
|
builder.line("flag = a < 10")
|
||||||
|
builder.line("return a")
|
||||||
|
builder.line("print('Done')")
|
||||||
|
|
||||||
|
expected_lines = [
|
||||||
|
"let a = 1",
|
||||||
|
"function myFunc() {",
|
||||||
|
" let flag = true",
|
||||||
|
" while (flag) {",
|
||||||
|
" a++",
|
||||||
|
" flag = a < 10",
|
||||||
|
" }",
|
||||||
|
" return a",
|
||||||
|
"}",
|
||||||
|
"print('Done')",
|
||||||
|
]
|
||||||
|
self.assertEqual(builder.to_string(), "\n".join(expected_lines))
|
||||||
|
|
||||||
|
|
||||||
|
class CommonUtilsTest(absltest.TestCase):
|
||||||
|
|
||||||
|
def test_uppercase_first_letter(self):
|
||||||
|
self.assertEqual(common.uppercase_first_letter(""), "")
|
||||||
|
self.assertEqual(common.uppercase_first_letter("hello"), "Hello")
|
||||||
|
self.assertEqual(common.uppercase_first_letter("1st place"), "1st place")
|
||||||
|
self.assertEqual(common.uppercase_first_letter("!wow"), "!wow")
|
||||||
|
self.assertEqual(
|
||||||
|
common.uppercase_first_letter(" leading space"), " leading space"
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_try_cast_to_scalar_type(self):
|
||||||
|
self.assertEqual(common.try_cast_to_scalar_type("123"), 123)
|
||||||
|
self.assertEqual(common.try_cast_to_scalar_type("123.456"), 123.456)
|
||||||
|
self.assertEqual(common.try_cast_to_scalar_type("abc"), "abc")
|
||||||
|
|
||||||
|
|
||||||
|
class FunctionUtilsTest(absltest.TestCase):
|
||||||
|
|
||||||
|
def setUp(self):
|
||||||
|
super().setUp()
|
||||||
|
self.struct_type = ast_nodes.ValueType("MyStruct")
|
||||||
|
self.ptr_to_int = ast_nodes.PointerType(ast_nodes.ValueType("int"))
|
||||||
|
self.func_ret_ptr_int = ast_nodes.FunctionDecl(
|
||||||
|
"func_pi", ast_nodes.PointerType(ast_nodes.ValueType("int")), [], "doc"
|
||||||
|
)
|
||||||
|
self.func_ret_ptr_struct = ast_nodes.FunctionDecl(
|
||||||
|
"func_ps",
|
||||||
|
ast_nodes.PointerType(ast_nodes.ValueType("MyStruct")),
|
||||||
|
[],
|
||||||
|
"doc",
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_return_is_value_of_type(self):
|
||||||
|
self.assertTrue(
|
||||||
|
function_utils.return_is_value_of_type(
|
||||||
|
ast_nodes.FunctionDecl(
|
||||||
|
"func_i", ast_nodes.ValueType("int"), [], "doc"
|
||||||
|
),
|
||||||
|
constants.PRIMITIVE_TYPES,
|
||||||
|
)
|
||||||
|
)
|
||||||
|
self.assertFalse(
|
||||||
|
function_utils.return_is_value_of_type(
|
||||||
|
ast_nodes.FunctionDecl(
|
||||||
|
"func_s", ast_nodes.ValueType("MyStruct"), [], "doc"
|
||||||
|
),
|
||||||
|
constants.PRIMITIVE_TYPES,
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_return_is_pointer_to_struct(self):
|
||||||
|
self.assertTrue(
|
||||||
|
function_utils.return_is_pointer_to_struct(self.func_ret_ptr_struct)
|
||||||
|
)
|
||||||
|
self.assertFalse(
|
||||||
|
function_utils.return_is_pointer_to_struct(self.func_ret_ptr_int)
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_return_is_pointer_to_primitive(self):
|
||||||
|
self.assertTrue(
|
||||||
|
function_utils.return_is_pointer_to_primitive(self.func_ret_ptr_int)
|
||||||
|
)
|
||||||
|
self.assertFalse(
|
||||||
|
function_utils.return_is_pointer_to_primitive(self.func_ret_ptr_struct)
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_param_is_primitive_value(self):
|
||||||
|
param_prim_val = ast_nodes.FunctionParameterDecl(
|
||||||
|
"prim_v", ast_nodes.ValueType("int")
|
||||||
|
)
|
||||||
|
param_arr = ast_nodes.FunctionParameterDecl(
|
||||||
|
"arr_v", ast_nodes.ArrayType(ast_nodes.ValueType("int"), extents=(10,))
|
||||||
|
)
|
||||||
|
|
||||||
|
self.assertTrue(function_utils.param_is_primitive_value(param_prim_val))
|
||||||
|
self.assertFalse(function_utils.param_is_primitive_value(param_arr))
|
||||||
|
|
||||||
|
def test_param_is_pointer_to_primitive_value(self):
|
||||||
|
param_ptr_to_prim = ast_nodes.FunctionParameterDecl(
|
||||||
|
"p_prim", self.ptr_to_int
|
||||||
|
)
|
||||||
|
param_arr_of_prim = ast_nodes.FunctionParameterDecl(
|
||||||
|
"a_prim", ast_nodes.ArrayType(ast_nodes.ValueType("int"), extents=(10,))
|
||||||
|
)
|
||||||
|
param_ptr_to_struct = ast_nodes.FunctionParameterDecl(
|
||||||
|
name="p_struct", type=ast_nodes.PointerType(inner_type=self.struct_type)
|
||||||
|
)
|
||||||
|
self.assertTrue(
|
||||||
|
function_utils.param_is_pointer_to_primitive_value(param_ptr_to_prim)
|
||||||
|
)
|
||||||
|
self.assertTrue(
|
||||||
|
function_utils.param_is_pointer_to_primitive_value(param_arr_of_prim)
|
||||||
|
)
|
||||||
|
self.assertFalse(
|
||||||
|
function_utils.param_is_pointer_to_primitive_value(param_ptr_to_struct)
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_param_is_pointer_to_struct(self):
|
||||||
|
param_arr_of_struct = ast_nodes.FunctionParameterDecl(
|
||||||
|
"a_struct", ast_nodes.ArrayType(self.struct_type, extents=(5,))
|
||||||
|
)
|
||||||
|
param_ptr_to_struct = ast_nodes.FunctionParameterDecl(
|
||||||
|
"p_struct", ast_nodes.PointerType(self.struct_type)
|
||||||
|
)
|
||||||
|
param_ptr_to_ptr = ast_nodes.FunctionParameterDecl(
|
||||||
|
"p_ptr", ast_nodes.PointerType(self.ptr_to_int)
|
||||||
|
)
|
||||||
|
self.assertTrue(
|
||||||
|
function_utils.param_is_pointer_to_struct(param_arr_of_struct)
|
||||||
|
)
|
||||||
|
self.assertTrue(
|
||||||
|
function_utils.param_is_pointer_to_struct(param_ptr_to_struct)
|
||||||
|
)
|
||||||
|
self.assertFalse(
|
||||||
|
function_utils.param_is_pointer_to_struct(param_ptr_to_ptr)
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_should_be_wrapped_with_primitive_ptr_return(self):
|
||||||
|
func = ast_nodes.FunctionDecl(
|
||||||
|
name="get_data",
|
||||||
|
return_type=ast_nodes.PointerType(ast_nodes.ValueType("int")),
|
||||||
|
parameters=tuple(),
|
||||||
|
doc="Returns int pointer",
|
||||||
|
)
|
||||||
|
self.assertTrue(function_utils.should_be_wrapped(func))
|
||||||
|
|
||||||
|
def test_generate_function_wrapper_for_simple_func(self):
|
||||||
|
func = ast_nodes.FunctionDecl(
|
||||||
|
name="get_id",
|
||||||
|
return_type=ast_nodes.ValueType("int"),
|
||||||
|
parameters=tuple(),
|
||||||
|
doc="Returns an integer ID",
|
||||||
|
)
|
||||||
|
result = function_utils.generate_function_wrapper(func)
|
||||||
|
self.assertEqual(
|
||||||
|
result,
|
||||||
|
"""int get_id_wrapper()
|
||||||
|
{
|
||||||
|
return get_id();
|
||||||
|
}""",
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_generate_function_wrapper_checking_param(self):
|
||||||
|
parameters = (
|
||||||
|
ast_nodes.FunctionParameterDecl(
|
||||||
|
name="mat",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="mjtNum", is_const=True),
|
||||||
|
),
|
||||||
|
),
|
||||||
|
ast_nodes.FunctionParameterDecl(
|
||||||
|
name="nr",
|
||||||
|
type=ast_nodes.ValueType(name="int"),
|
||||||
|
),
|
||||||
|
)
|
||||||
|
func = ast_nodes.FunctionDecl(
|
||||||
|
name="get_id",
|
||||||
|
return_type=ast_nodes.ValueType("int"),
|
||||||
|
parameters=parameters,
|
||||||
|
doc="Returns an integer ID",
|
||||||
|
)
|
||||||
|
result = function_utils.generate_function_wrapper(func)
|
||||||
|
self.assertEqual(
|
||||||
|
result,
|
||||||
|
"""int get_id_wrapper(const NumberArray& mat, int nr)
|
||||||
|
{
|
||||||
|
UNPACK_ARRAY(mjtNum, mat);
|
||||||
|
return get_id(mat_.data(), nr);
|
||||||
|
}""",
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_get_params_string_with_struct_ptr(self):
|
||||||
|
param = ast_nodes.FunctionParameterDecl(
|
||||||
|
name="my_struct",
|
||||||
|
type=ast_nodes.PointerType(ast_nodes.ValueType("mystruct")),
|
||||||
|
)
|
||||||
|
result = function_utils.get_params_string((param,))
|
||||||
|
self.assertEqual(result, ["Mystruct& my_struct"])
|
||||||
|
|
||||||
|
def test_get_params_string_maybe_with_conversion_struct_ptr(self):
|
||||||
|
param = ast_nodes.FunctionParameterDecl(
|
||||||
|
name="s",
|
||||||
|
type=ast_nodes.PointerType(ast_nodes.ValueType("customstruct")),
|
||||||
|
)
|
||||||
|
result = function_utils.get_params_string_maybe_with_conversion((param,))
|
||||||
|
self.assertEqual(result, ["s.get()"])
|
||||||
|
|
||||||
|
def test_get_compatible_return_call(self):
|
||||||
|
func = ast_nodes.FunctionDecl(
|
||||||
|
name="noop",
|
||||||
|
return_type=ast_nodes.ValueType("void"),
|
||||||
|
parameters=tuple(),
|
||||||
|
doc="does nothing",
|
||||||
|
)
|
||||||
|
result = function_utils.get_compatible_return_call(func, "noop()")
|
||||||
|
self.assertEqual(result, "noop()")
|
||||||
|
|
||||||
|
def test_get_compatible_return_type(self):
|
||||||
|
func = ast_nodes.FunctionDecl(
|
||||||
|
name="get_name",
|
||||||
|
return_type=ast_nodes.PointerType(ast_nodes.ValueType("char")),
|
||||||
|
parameters=tuple(),
|
||||||
|
doc="returns name",
|
||||||
|
)
|
||||||
|
result = function_utils.get_compatible_return_type(func)
|
||||||
|
self.assertEqual(result.strip(), "std::string")
|
||||||
|
|
||||||
|
def test_get_converted_struct_to_class(self):
|
||||||
|
func = ast_nodes.FunctionDecl(
|
||||||
|
name="get_struct",
|
||||||
|
return_type=ast_nodes.PointerType(ast_nodes.ValueType("mystruct")),
|
||||||
|
parameters=tuple(),
|
||||||
|
doc="returns struct",
|
||||||
|
)
|
||||||
|
result = function_utils.get_converted_struct_to_class(func, "get_struct()")
|
||||||
|
self.assertIn("mystruct* result = get_struct();", result)
|
||||||
|
self.assertIn("return Mystruct(result)", result)
|
||||||
|
|
||||||
|
def test_is_excluded_function_name(self):
|
||||||
|
self.assertTrue(function_utils.is_excluded_function_name("mjr_function"))
|
||||||
|
self.assertTrue(function_utils.is_excluded_function_name("mjui_function"))
|
||||||
|
self.assertTrue(function_utils.is_excluded_function_name("mju_malloc"))
|
||||||
|
self.assertTrue(function_utils.is_excluded_function_name("mj_makeData"))
|
||||||
|
self.assertFalse(
|
||||||
|
function_utils.is_excluded_function_name("mjv_updateScene")
|
||||||
|
)
|
||||||
|
self.assertFalse(
|
||||||
|
function_utils.is_excluded_function_name("mj_normalFunction")
|
||||||
|
)
|
||||||
|
self.assertFalse(
|
||||||
|
function_utils.is_excluded_function_name("mju_someOtherFunction")
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
class StructConstructorCodeBuilderTest(absltest.TestCase):
|
||||||
|
|
||||||
|
def test_constructor_code_with_default_function(self):
|
||||||
|
wrapped_structs = structs_parser.generate_wasm_bindings(["mjLROpt"])
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_structs["mjLROpt"].wrapped_source,
|
||||||
|
"""
|
||||||
|
MjLROpt::MjLROpt(mjLROpt *ptr) : ptr_(ptr) {}
|
||||||
|
MjLROpt::MjLROpt() : ptr_(new mjLROpt) {
|
||||||
|
owned_ = true;
|
||||||
|
mj_defaultLROpt(ptr_);
|
||||||
|
}
|
||||||
|
MjLROpt::MjLROpt(const MjLROpt &other) : MjLROpt() {
|
||||||
|
*ptr_ = *other.get();
|
||||||
|
}
|
||||||
|
MjLROpt& MjLROpt::operator=(const MjLROpt &other) {
|
||||||
|
if (this == &other) {
|
||||||
|
return *this;
|
||||||
|
}
|
||||||
|
*ptr_ = *other.get();
|
||||||
|
return *this;
|
||||||
|
}
|
||||||
|
MjLROpt::~MjLROpt() {
|
||||||
|
if (owned_ && ptr_) delete ptr_;
|
||||||
|
}
|
||||||
|
std::unique_ptr<MjLROpt> MjLROpt::copy() {
|
||||||
|
return std::make_unique<MjLROpt>(*this);
|
||||||
|
}
|
||||||
|
""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_constructor_code_without_default_function(self):
|
||||||
|
wrapped_structs = structs_parser.generate_wasm_bindings(["mjsElement"])
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_structs["mjsElement"].wrapped_source,
|
||||||
|
"""
|
||||||
|
MjsElement::MjsElement(mjsElement *ptr) : ptr_(ptr) {}
|
||||||
|
MjsElement::~MjsElement() {}
|
||||||
|
std::unique_ptr<MjsElement> MjsElement::copy() {
|
||||||
|
return std::make_unique<MjsElement>(*this);
|
||||||
|
}
|
||||||
|
""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_constructor_code_with_fields_with_init(self):
|
||||||
|
field_with_init = ast_nodes.StructFieldDecl(
|
||||||
|
name="element",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="mjsElement"),
|
||||||
|
),
|
||||||
|
doc="",
|
||||||
|
)
|
||||||
|
wrapped_field_data = struct_field_handler.StructFieldHandler(
|
||||||
|
field_with_init, "MjsTexture"
|
||||||
|
).generate()
|
||||||
|
self.assertEqual(
|
||||||
|
struct_constructor_code_builder.build_struct_source(
|
||||||
|
"mjsTexture",
|
||||||
|
[wrapped_field_data],
|
||||||
|
),
|
||||||
|
"""
|
||||||
|
MjsTexture::MjsTexture(mjsTexture *ptr) : ptr_(ptr), element(ptr_->element) {}
|
||||||
|
MjsTexture::~MjsTexture() {}
|
||||||
|
""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_constructor_code_with_shallow_copy(self):
|
||||||
|
self.assertEqual(
|
||||||
|
struct_constructor_code_builder.build_struct_source("mjvLight", []),
|
||||||
|
"""MjvLight::MjvLight(mjvLight *ptr) : ptr_(ptr) {}
|
||||||
|
MjvLight::MjvLight() : ptr_(new mjvLight) {
|
||||||
|
owned_ = true;
|
||||||
|
}
|
||||||
|
MjvLight::MjvLight(const MjvLight &other) : MjvLight() {
|
||||||
|
*ptr_ = *other.get();
|
||||||
|
}
|
||||||
|
MjvLight& MjvLight::operator=(const MjvLight &other) {
|
||||||
|
if (this == &other) {
|
||||||
|
return *this;
|
||||||
|
}
|
||||||
|
*ptr_ = *other.get();
|
||||||
|
return *this;
|
||||||
|
}
|
||||||
|
MjvLight::~MjvLight() {
|
||||||
|
if (owned_ && ptr_) delete ptr_;
|
||||||
|
}
|
||||||
|
std::unique_ptr<MjvLight> MjvLight::copy() {
|
||||||
|
return std::make_unique<MjvLight>(*this);
|
||||||
|
}""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def test_build_struct_header_with_nested_wrappers(self):
|
||||||
|
self.assertEqual(
|
||||||
|
struct_constructor_code_builder.build_struct_header("mjData", []),
|
||||||
|
"",
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def test_build_struct_header_basic_struct(self):
|
||||||
|
self.assertEqual(
|
||||||
|
struct_constructor_code_builder.build_struct_header("mjLROpt", []),
|
||||||
|
"""
|
||||||
|
struct MjLROpt {
|
||||||
|
MjLROpt();
|
||||||
|
MjLROpt(const MjLROpt &);
|
||||||
|
MjLROpt &operator=(const MjLROpt &);
|
||||||
|
explicit MjLROpt(mjLROpt *ptr);
|
||||||
|
~MjLROpt();
|
||||||
|
mjLROpt* get() const { return ptr_; }
|
||||||
|
void set(mjLROpt* ptr) { ptr_ = ptr; }
|
||||||
|
|
||||||
|
private:
|
||||||
|
mjLROpt* ptr_;
|
||||||
|
bool owned_ = false;
|
||||||
|
};
|
||||||
|
""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
class StructFieldCodeBuilderTest(absltest.TestCase):
|
||||||
|
|
||||||
|
def test_primitive_type_definition(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="ngeom",
|
||||||
|
type=ast_nodes.ValueType(name="int"),
|
||||||
|
doc="number of geoms",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_primitive_type_definition(field),
|
||||||
|
"""
|
||||||
|
int ngeom() const {
|
||||||
|
return ptr_->ngeom;
|
||||||
|
}
|
||||||
|
void set_ngeom(int value) {
|
||||||
|
ptr_->ngeom = value;
|
||||||
|
}
|
||||||
|
""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_memory_view_definition(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="geom_rgba",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="float"),
|
||||||
|
),
|
||||||
|
doc="rgba when material is omitted",
|
||||||
|
array_extent=("ngeom", 4),
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_memory_view_definition(
|
||||||
|
field, "ptr_->ngeom * 4", "ptr_->geom_rgba"
|
||||||
|
),
|
||||||
|
"""
|
||||||
|
emscripten::val geom_rgba() const {
|
||||||
|
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
|
||||||
|
}
|
||||||
|
""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_string_field_definition(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="string_field",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="mjString"),
|
||||||
|
),
|
||||||
|
doc="rgba when material is omitted",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_string_field_definition(field),
|
||||||
|
"""
|
||||||
|
mjString string_field() const {
|
||||||
|
return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : "";
|
||||||
|
}
|
||||||
|
void set_string_field(const mjString& value) {
|
||||||
|
if (ptr_ && ptr_->string_field) {
|
||||||
|
*(ptr_->string_field) = value;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_mjvec_pointer_definition(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="vector_field",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="mjDoubleVec"),
|
||||||
|
),
|
||||||
|
doc="",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_mjvec_pointer_definition(
|
||||||
|
field, "mjDoubleVec"
|
||||||
|
),
|
||||||
|
"""
|
||||||
|
mjDoubleVec &vector_field() const {
|
||||||
|
return *(ptr_->vector_field);
|
||||||
|
}""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_mjbyte_vec_pointer_definition(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="vector_field",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="mjByteVec"),
|
||||||
|
),
|
||||||
|
doc="",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_mjvec_pointer_definition(
|
||||||
|
field, "mjByteVec"
|
||||||
|
),
|
||||||
|
"""
|
||||||
|
std::vector<uint8_t> &vector_field() const {
|
||||||
|
return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->vector_field));
|
||||||
|
}""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_simple_property_binding(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="ngeom",
|
||||||
|
type=ast_nodes.ValueType(name="int"),
|
||||||
|
doc="number of geoms",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_simple_property_binding(
|
||||||
|
field, "MjModel"
|
||||||
|
),
|
||||||
|
'.property("ngeom", &MjModel::ngeom)',
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_simple_property_binding_with_setter(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="ngeom",
|
||||||
|
type=ast_nodes.ValueType(name="int"),
|
||||||
|
doc="",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_simple_property_binding(
|
||||||
|
field, "MjModel", True
|
||||||
|
),
|
||||||
|
'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom)',
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_simple_property_binding_with_return_value_policy_as_ref(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="ngeom",
|
||||||
|
type=ast_nodes.ValueType(name="int"),
|
||||||
|
doc="",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_simple_property_binding(
|
||||||
|
field,
|
||||||
|
"MjModel",
|
||||||
|
add_setter=True,
|
||||||
|
add_return_value_policy_as_ref=True,
|
||||||
|
),
|
||||||
|
'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())',
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
class StructFieldCodeBuilderTest(absltest.TestCase):
|
||||||
|
|
||||||
|
def test_primitive_type_definition(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="ngeom",
|
||||||
|
type=ast_nodes.ValueType(name="int"),
|
||||||
|
doc="number of geoms",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_primitive_type_definition(field),
|
||||||
|
"""
|
||||||
|
int ngeom() const {
|
||||||
|
return ptr_->ngeom;
|
||||||
|
}
|
||||||
|
void set_ngeom(int value) {
|
||||||
|
ptr_->ngeom = value;
|
||||||
|
}
|
||||||
|
""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_memory_view_definition(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="geom_rgba",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="float"),
|
||||||
|
),
|
||||||
|
doc="rgba when material is omitted",
|
||||||
|
array_extent=("ngeom", 4),
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_memory_view_definition(
|
||||||
|
field, "ptr_->ngeom * 4", "ptr_->geom_rgba"
|
||||||
|
),
|
||||||
|
"""
|
||||||
|
emscripten::val geom_rgba() const {
|
||||||
|
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
|
||||||
|
}
|
||||||
|
""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_string_field_definition(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="string_field",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="mjString"),
|
||||||
|
),
|
||||||
|
doc="rgba when material is omitted",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_string_field_definition(field),
|
||||||
|
"""
|
||||||
|
mjString string_field() const {
|
||||||
|
return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : "";
|
||||||
|
}
|
||||||
|
void set_string_field(const mjString& value) {
|
||||||
|
if (ptr_ && ptr_->string_field) {
|
||||||
|
*(ptr_->string_field) = value;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_mjvec_pointer_definition(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="vector_field",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="mjDoubleVec"),
|
||||||
|
),
|
||||||
|
doc="",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_mjvec_pointer_definition(
|
||||||
|
field, "mjDoubleVec"
|
||||||
|
),
|
||||||
|
"""
|
||||||
|
mjDoubleVec &vector_field() const {
|
||||||
|
return *(ptr_->vector_field);
|
||||||
|
}""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_mjbyte_vec_pointer_definition(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="vector_field",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="mjByteVec"),
|
||||||
|
),
|
||||||
|
doc="",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_mjvec_pointer_definition(
|
||||||
|
field, "mjByteVec"
|
||||||
|
),
|
||||||
|
"""
|
||||||
|
std::vector<uint8_t> &vector_field() const {
|
||||||
|
return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->vector_field));
|
||||||
|
}""".strip(),
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_simple_property_binding(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="ngeom",
|
||||||
|
type=ast_nodes.ValueType(name="int"),
|
||||||
|
doc="number of geoms",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_simple_property_binding(
|
||||||
|
field, "MjModel"
|
||||||
|
),
|
||||||
|
'.property("ngeom", &MjModel::ngeom)',
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_simple_property_binding_with_setter(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="ngeom",
|
||||||
|
type=ast_nodes.ValueType(name="int"),
|
||||||
|
doc="",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_simple_property_binding(
|
||||||
|
field, "MjModel", True
|
||||||
|
),
|
||||||
|
'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom)',
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_simple_property_binding_with_return_value_policy_as_ref(self):
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="ngeom",
|
||||||
|
type=ast_nodes.ValueType(name="int"),
|
||||||
|
doc="",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_code_builder.build_simple_property_binding(
|
||||||
|
field,
|
||||||
|
"MjModel",
|
||||||
|
add_setter=True,
|
||||||
|
add_return_value_policy_as_ref=True,
|
||||||
|
),
|
||||||
|
'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())',
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
class StructFieldHandlerTest(absltest.TestCase):
|
||||||
|
|
||||||
|
def test_scalar_field(self):
|
||||||
|
"""Test that a scalar type field is handled correctly."""
|
||||||
|
field_scalar = ast_nodes.StructFieldDecl(
|
||||||
|
name="ngeom",
|
||||||
|
type=ast_nodes.ValueType(name="int"),
|
||||||
|
doc="number of geoms",
|
||||||
|
)
|
||||||
|
|
||||||
|
field_handler_scalar = struct_field_handler.StructFieldHandler(
|
||||||
|
field_scalar, "MjModel"
|
||||||
|
)
|
||||||
|
wrapped_field_data = field_handler_scalar.generate()
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_field_data.definition,
|
||||||
|
"""
|
||||||
|
int ngeom() const {
|
||||||
|
return ptr_->ngeom;
|
||||||
|
}
|
||||||
|
void set_ngeom(int value) {
|
||||||
|
ptr_->ngeom = value;
|
||||||
|
}
|
||||||
|
""".strip(),
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_field_data.binding,
|
||||||
|
'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())',
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_pointer_type_field(self):
|
||||||
|
"""Test that a pointer type field is handled correctly."""
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="geom_rgba",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="float"),
|
||||||
|
),
|
||||||
|
doc="rgba when material is omitted",
|
||||||
|
array_extent=("ngeom", 4),
|
||||||
|
)
|
||||||
|
wrapped_field_data = struct_field_handler.StructFieldHandler(
|
||||||
|
field, "MjModel"
|
||||||
|
).generate()
|
||||||
|
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_field_data.definition,
|
||||||
|
("""
|
||||||
|
emscripten::val geom_rgba() const {
|
||||||
|
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
|
||||||
|
}
|
||||||
|
""".strip()),
|
||||||
|
)
|
||||||
|
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_field_data.binding,
|
||||||
|
'.property("geom_rgba", &MjModel::geom_rgba)',
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_pointer_type_field_for_byte_type(self):
|
||||||
|
"""Test that a pointer type field for a byte type is handled correctly."""
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="buffer",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="void"),
|
||||||
|
),
|
||||||
|
doc="main buffer; all pointers point in it (nbuffer bytes)",
|
||||||
|
)
|
||||||
|
wrapped_field_data = struct_field_handler.StructFieldHandler(
|
||||||
|
field, "MjData"
|
||||||
|
).generate()
|
||||||
|
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_field_data.definition,
|
||||||
|
("""
|
||||||
|
emscripten::val buffer() const {
|
||||||
|
return emscripten::val(emscripten::typed_memory_view(model->nbuffer, static_cast<uint8_t*>(ptr_->buffer)));
|
||||||
|
}
|
||||||
|
""".strip()),
|
||||||
|
)
|
||||||
|
assert wrapped_field_data.binding == '.property("buffer", &MjData::buffer)'
|
||||||
|
|
||||||
|
def test_pointer_type_field_for_mj_struct(self):
|
||||||
|
"""Test that a pointer type field for a mj struct is handled correctly."""
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="element",
|
||||||
|
type=ast_nodes.PointerType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="mjsElement"),
|
||||||
|
),
|
||||||
|
doc="",
|
||||||
|
)
|
||||||
|
wrapped_field_data = struct_field_handler.StructFieldHandler(
|
||||||
|
field, "MjsTexture"
|
||||||
|
).generate()
|
||||||
|
self.assertEqual(wrapped_field_data.definition, "MjsElement element;")
|
||||||
|
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_field_data.binding,
|
||||||
|
'.property("element", &MjsTexture::element, reference())',
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_field_data.initialization,
|
||||||
|
", element(ptr_->element)",
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_array_type_field(self):
|
||||||
|
"""Test that an array type field is handled correctly."""
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="gravity",
|
||||||
|
type=ast_nodes.ArrayType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="mjtNum"),
|
||||||
|
extents=(3,),
|
||||||
|
),
|
||||||
|
doc="gravitational acceleration",
|
||||||
|
)
|
||||||
|
wrapped_field_data = struct_field_handler.StructFieldHandler(
|
||||||
|
field, "MjOption"
|
||||||
|
).generate()
|
||||||
|
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_field_data.definition,
|
||||||
|
("""
|
||||||
|
emscripten::val gravity() const {
|
||||||
|
return emscripten::val(emscripten::typed_memory_view(3, ptr_->gravity));
|
||||||
|
}
|
||||||
|
""".strip()),
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_field_data.binding,
|
||||||
|
'.property("gravity", &MjOption::gravity)',
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_array_field_with_multi_dimensional_array(self):
|
||||||
|
"""Test that multi-dimensional arrays are handled correctly."""
|
||||||
|
field = ast_nodes.StructFieldDecl(
|
||||||
|
name="multi_dim_array",
|
||||||
|
type=ast_nodes.ArrayType(
|
||||||
|
inner_type=ast_nodes.ValueType(name="float"),
|
||||||
|
extents=(3, 4),
|
||||||
|
),
|
||||||
|
doc="description",
|
||||||
|
)
|
||||||
|
wrapped_field_data = struct_field_handler.StructFieldHandler(
|
||||||
|
field, "MjModel"
|
||||||
|
).generate()
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_field_data.definition,
|
||||||
|
"""
|
||||||
|
emscripten::val multi_dim_array() const {
|
||||||
|
return emscripten::val(emscripten::typed_memory_view(12, reinterpret_cast<float*>(ptr_->multi_dim_array)));
|
||||||
|
}
|
||||||
|
""".strip(),
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
wrapped_field_data.binding,
|
||||||
|
'.property("multi_dim_array", &MjModel::multi_dim_array)',
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_parse_array_extent(self):
|
||||||
|
"""Test that parse_array_extent handles various cases correctly."""
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_handler.parse_array_extent((1, 2), "MjModel", "geom_rgba"),
|
||||||
|
"1 * 2",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_handler.parse_array_extent(
|
||||||
|
(1, "ngeom"), "MjModel", "geom_rgba"
|
||||||
|
),
|
||||||
|
"1 * ptr_->ngeom",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_handler.parse_array_extent(
|
||||||
|
(1, "mjConstant"), "MjModel", "geom_rgba"
|
||||||
|
),
|
||||||
|
"1 * mjConstant",
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_resolve_extent(self):
|
||||||
|
"""Test that resolve_extent handles various cases correctly."""
|
||||||
|
# for integer just return the number
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_handler.resolve_extent(1, "MjModel", "geom_rgba"), "1"
|
||||||
|
)
|
||||||
|
|
||||||
|
# for string that does not start with mj, it's a member of the struct
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_handler.resolve_extent("ngeom", "MjModel", "geom_rgba"),
|
||||||
|
"ptr_->ngeom",
|
||||||
|
)
|
||||||
|
|
||||||
|
# when it's MjData and the field is in MJDATA_SIZES, it should use ptr_->
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_handler.resolve_extent("size_value", "MjData", "efc_AR"),
|
||||||
|
"ptr_->size_value",
|
||||||
|
)
|
||||||
|
# when it's MjData and the field is not in MJDATA_SIZES,
|
||||||
|
# it should use model->
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_handler.resolve_extent(
|
||||||
|
"size_value", "MjData", "data_field"
|
||||||
|
),
|
||||||
|
"model->size_value",
|
||||||
|
)
|
||||||
|
self.assertEqual(
|
||||||
|
struct_field_handler.resolve_extent(
|
||||||
|
"mjConstant", "MjModel", "model_field"
|
||||||
|
),
|
||||||
|
"mjConstant",
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
absltest.main()
|
||||||
@@ -1,143 +0,0 @@
|
|||||||
# Copyright 2025 DeepMind Technologies Limited
|
|
||||||
#
|
|
||||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
||||||
# you may not use this file except in compliance with the License.
|
|
||||||
# You may obtain a copy of the License at
|
|
||||||
#
|
|
||||||
# http://www.apache.org/licenses/LICENSE-2.0
|
|
||||||
#
|
|
||||||
# Unless required by applicable law or agreed to in writing, software
|
|
||||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
||||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
||||||
# See the License for the specific language governing permissions and
|
|
||||||
# limitations under the License.
|
|
||||||
|
|
||||||
from absl.testing import absltest
|
|
||||||
from introspect import ast_nodes
|
|
||||||
from wasm.codegen.helpers import struct_constructor_code_builder
|
|
||||||
from wasm.codegen.helpers import struct_field_handler
|
|
||||||
from wasm.codegen.helpers import structs_parser
|
|
||||||
|
|
||||||
|
|
||||||
class StructConstructorCodeBuilderTest(absltest.TestCase):
|
|
||||||
|
|
||||||
def test_constructor_code_with_default_function(self):
|
|
||||||
wrapped_structs = structs_parser.generate_wasm_bindings(["mjLROpt"])
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_structs["mjLROpt"].wrapped_source,
|
|
||||||
"""
|
|
||||||
MjLROpt::MjLROpt(mjLROpt *ptr) : ptr_(ptr) {}
|
|
||||||
MjLROpt::MjLROpt() : ptr_(new mjLROpt) {
|
|
||||||
owned_ = true;
|
|
||||||
mj_defaultLROpt(ptr_);
|
|
||||||
}
|
|
||||||
MjLROpt::MjLROpt(const MjLROpt &other) : MjLROpt() {
|
|
||||||
*ptr_ = *other.get();
|
|
||||||
}
|
|
||||||
MjLROpt& MjLROpt::operator=(const MjLROpt &other) {
|
|
||||||
if (this == &other) {
|
|
||||||
return *this;
|
|
||||||
}
|
|
||||||
*ptr_ = *other.get();
|
|
||||||
return *this;
|
|
||||||
}
|
|
||||||
MjLROpt::~MjLROpt() {
|
|
||||||
if (owned_ && ptr_) delete ptr_;
|
|
||||||
}
|
|
||||||
std::unique_ptr<MjLROpt> MjLROpt::copy() {
|
|
||||||
return std::make_unique<MjLROpt>(*this);
|
|
||||||
}
|
|
||||||
""".strip(),
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_constructor_code_without_default_function(self):
|
|
||||||
wrapped_structs = structs_parser.generate_wasm_bindings(["mjsElement"])
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_structs["mjsElement"].wrapped_source,
|
|
||||||
"""
|
|
||||||
MjsElement::MjsElement(mjsElement *ptr) : ptr_(ptr) {}
|
|
||||||
MjsElement::~MjsElement() {}
|
|
||||||
std::unique_ptr<MjsElement> MjsElement::copy() {
|
|
||||||
return std::make_unique<MjsElement>(*this);
|
|
||||||
}
|
|
||||||
""".strip(),
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_constructor_code_with_fields_with_init(self):
|
|
||||||
field_with_init = ast_nodes.StructFieldDecl(
|
|
||||||
name="element",
|
|
||||||
type=ast_nodes.PointerType(
|
|
||||||
inner_type=ast_nodes.ValueType(name="mjsElement"),
|
|
||||||
),
|
|
||||||
doc="",
|
|
||||||
)
|
|
||||||
wrapped_field_data = struct_field_handler.StructFieldHandler(
|
|
||||||
field_with_init, "MjsTexture"
|
|
||||||
).generate()
|
|
||||||
self.assertEqual(
|
|
||||||
struct_constructor_code_builder.build_struct_source(
|
|
||||||
"mjsTexture",
|
|
||||||
[wrapped_field_data],
|
|
||||||
),
|
|
||||||
"""
|
|
||||||
MjsTexture::MjsTexture(mjsTexture *ptr) : ptr_(ptr), element(ptr_->element) {}
|
|
||||||
MjsTexture::~MjsTexture() {}
|
|
||||||
""".strip(),
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_constructor_code_with_shallow_copy(self):
|
|
||||||
self.assertEqual(
|
|
||||||
struct_constructor_code_builder.build_struct_source("mjvLight", []),
|
|
||||||
"""MjvLight::MjvLight(mjvLight *ptr) : ptr_(ptr) {}
|
|
||||||
MjvLight::MjvLight() : ptr_(new mjvLight) {
|
|
||||||
owned_ = true;
|
|
||||||
}
|
|
||||||
MjvLight::MjvLight(const MjvLight &other) : MjvLight() {
|
|
||||||
*ptr_ = *other.get();
|
|
||||||
}
|
|
||||||
MjvLight& MjvLight::operator=(const MjvLight &other) {
|
|
||||||
if (this == &other) {
|
|
||||||
return *this;
|
|
||||||
}
|
|
||||||
*ptr_ = *other.get();
|
|
||||||
return *this;
|
|
||||||
}
|
|
||||||
MjvLight::~MjvLight() {
|
|
||||||
if (owned_ && ptr_) delete ptr_;
|
|
||||||
}
|
|
||||||
std::unique_ptr<MjvLight> MjvLight::copy() {
|
|
||||||
return std::make_unique<MjvLight>(*this);
|
|
||||||
}""".strip(),
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
def test_build_struct_header_with_nested_wrappers(self):
|
|
||||||
self.assertEqual(
|
|
||||||
struct_constructor_code_builder.build_struct_header("mjData", []),
|
|
||||||
"",
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
def test_build_struct_header_basic_struct(self):
|
|
||||||
self.assertEqual(
|
|
||||||
struct_constructor_code_builder.build_struct_header("mjLROpt", []),
|
|
||||||
"""
|
|
||||||
struct MjLROpt {
|
|
||||||
MjLROpt();
|
|
||||||
MjLROpt(const MjLROpt &);
|
|
||||||
MjLROpt &operator=(const MjLROpt &);
|
|
||||||
explicit MjLROpt(mjLROpt *ptr);
|
|
||||||
~MjLROpt();
|
|
||||||
mjLROpt* get() const { return ptr_; }
|
|
||||||
void set(mjLROpt* ptr) { ptr_ = ptr; }
|
|
||||||
|
|
||||||
private:
|
|
||||||
mjLROpt* ptr_;
|
|
||||||
bool owned_ = false;
|
|
||||||
};
|
|
||||||
""".strip(),
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
absltest.main()
|
|
||||||
@@ -1,166 +0,0 @@
|
|||||||
# Copyright 2025 DeepMind Technologies Limited
|
|
||||||
#
|
|
||||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
||||||
# you may not use this file except in compliance with the License.
|
|
||||||
# You may obtain a copy of the License at
|
|
||||||
#
|
|
||||||
# http://www.apache.org/licenses/LICENSE-2.0
|
|
||||||
#
|
|
||||||
# Unless required by applicable law or agreed to in writing, software
|
|
||||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
||||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
||||||
# See the License for the specific language governing permissions and
|
|
||||||
# limitations under the License.
|
|
||||||
|
|
||||||
from absl.testing import absltest
|
|
||||||
from introspect import ast_nodes
|
|
||||||
|
|
||||||
from wasm.codegen.helpers import struct_field_code_builder
|
|
||||||
|
|
||||||
|
|
||||||
class StructFieldCodeBuilderTest(absltest.TestCase):
|
|
||||||
|
|
||||||
def test_primitive_type_definition(self):
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name="ngeom",
|
|
||||||
type=ast_nodes.ValueType(name="int"),
|
|
||||||
doc="number of geoms",
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_code_builder.build_primitive_type_definition(field),
|
|
||||||
"""
|
|
||||||
int ngeom() const {
|
|
||||||
return ptr_->ngeom;
|
|
||||||
}
|
|
||||||
void set_ngeom(int value) {
|
|
||||||
ptr_->ngeom = value;
|
|
||||||
}
|
|
||||||
""".strip(),
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_memory_view_definition(self):
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name="geom_rgba",
|
|
||||||
type=ast_nodes.PointerType(
|
|
||||||
inner_type=ast_nodes.ValueType(name="float"),
|
|
||||||
),
|
|
||||||
doc="rgba when material is omitted",
|
|
||||||
array_extent=("ngeom", 4),
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_code_builder.build_memory_view_definition(
|
|
||||||
field, "ptr_->ngeom * 4", "ptr_->geom_rgba"
|
|
||||||
),
|
|
||||||
"""
|
|
||||||
emscripten::val geom_rgba() const {
|
|
||||||
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
|
|
||||||
}
|
|
||||||
""".strip(),
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_string_field_definition(self):
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name="string_field",
|
|
||||||
type=ast_nodes.PointerType(
|
|
||||||
inner_type=ast_nodes.ValueType(name="mjString"),
|
|
||||||
),
|
|
||||||
doc="rgba when material is omitted",
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_code_builder.build_string_field_definition(field),
|
|
||||||
"""
|
|
||||||
mjString string_field() const {
|
|
||||||
return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : "";
|
|
||||||
}
|
|
||||||
void set_string_field(const mjString& value) {
|
|
||||||
if (ptr_ && ptr_->string_field) {
|
|
||||||
*(ptr_->string_field) = value;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
""".strip(),
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_mjvec_pointer_definition(self):
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name="vector_field",
|
|
||||||
type=ast_nodes.PointerType(
|
|
||||||
inner_type=ast_nodes.ValueType(name="mjDoubleVec"),
|
|
||||||
),
|
|
||||||
doc="",
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_code_builder.build_mjvec_pointer_definition(
|
|
||||||
field, "mjDoubleVec"
|
|
||||||
),
|
|
||||||
"""
|
|
||||||
mjDoubleVec &vector_field() const {
|
|
||||||
return *(ptr_->vector_field);
|
|
||||||
}""".strip(),
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_mjbyte_vec_pointer_definition(self):
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name="vector_field",
|
|
||||||
type=ast_nodes.PointerType(
|
|
||||||
inner_type=ast_nodes.ValueType(name="mjByteVec"),
|
|
||||||
),
|
|
||||||
doc="",
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_code_builder.build_mjvec_pointer_definition(
|
|
||||||
field, "mjByteVec"
|
|
||||||
),
|
|
||||||
"""
|
|
||||||
std::vector<uint8_t> &vector_field() const {
|
|
||||||
return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->vector_field));
|
|
||||||
}""".strip(),
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_simple_property_binding(self):
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name="ngeom",
|
|
||||||
type=ast_nodes.ValueType(name="int"),
|
|
||||||
doc="number of geoms",
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_code_builder.build_simple_property_binding(
|
|
||||||
field, "MjModel"
|
|
||||||
),
|
|
||||||
'.property("ngeom", &MjModel::ngeom)',
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_simple_property_binding_with_setter(self):
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name="ngeom",
|
|
||||||
type=ast_nodes.ValueType(name="int"),
|
|
||||||
doc="",
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_code_builder.build_simple_property_binding(
|
|
||||||
field, "MjModel", True
|
|
||||||
),
|
|
||||||
'.property("ngeom", &MjModel::ngeom,'
|
|
||||||
" &MjModel::set_ngeom)",
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_simple_property_binding_with_return_value_policy_as_ref(self):
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name="ngeom",
|
|
||||||
type=ast_nodes.ValueType(name="int"),
|
|
||||||
doc="",
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_code_builder.build_simple_property_binding(
|
|
||||||
field,
|
|
||||||
"MjModel",
|
|
||||||
add_setter=True,
|
|
||||||
add_return_value_policy_as_ref=True,
|
|
||||||
),
|
|
||||||
'.property("ngeom", &MjModel::ngeom,'
|
|
||||||
" &MjModel::set_ngeom,"
|
|
||||||
" reference())",
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
absltest.main()
|
|
||||||
@@ -1,235 +0,0 @@
|
|||||||
# Copyright 2025 DeepMind Technologies Limited
|
|
||||||
#
|
|
||||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
||||||
# you may not use this file except in compliance with the License.
|
|
||||||
# You may obtain a copy of the License at
|
|
||||||
#
|
|
||||||
# http://www.apache.org/licenses/LICENSE-2.0
|
|
||||||
#
|
|
||||||
# Unless required by applicable law or agreed to in writing, software
|
|
||||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
||||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
||||||
# See the License for the specific language governing permissions and
|
|
||||||
# limitations under the License.
|
|
||||||
|
|
||||||
from absl.testing import absltest
|
|
||||||
from introspect import ast_nodes
|
|
||||||
|
|
||||||
from wasm.codegen.helpers import struct_field_handler
|
|
||||||
|
|
||||||
|
|
||||||
class StructFieldHandlerTest(absltest.TestCase):
|
|
||||||
|
|
||||||
def test_scalar_field(self):
|
|
||||||
"""Test that a scalar type field is handled correctly."""
|
|
||||||
field_scalar = ast_nodes.StructFieldDecl(
|
|
||||||
name='ngeom',
|
|
||||||
type=ast_nodes.ValueType(name='int'),
|
|
||||||
doc='number of geoms',
|
|
||||||
)
|
|
||||||
|
|
||||||
field_handler_scalar = struct_field_handler.StructFieldHandler(
|
|
||||||
field_scalar, 'MjModel'
|
|
||||||
)
|
|
||||||
wrapped_field_data = field_handler_scalar.generate()
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_field_data.definition,
|
|
||||||
"""
|
|
||||||
int ngeom() const {
|
|
||||||
return ptr_->ngeom;
|
|
||||||
}
|
|
||||||
void set_ngeom(int value) {
|
|
||||||
ptr_->ngeom = value;
|
|
||||||
}
|
|
||||||
""".strip(),
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_field_data.binding,
|
|
||||||
'.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())',
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_pointer_type_field(self):
|
|
||||||
"""Test that a pointer type field is handled correctly."""
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name='geom_rgba',
|
|
||||||
type=ast_nodes.PointerType(
|
|
||||||
inner_type=ast_nodes.ValueType(name='float'),
|
|
||||||
),
|
|
||||||
doc='rgba when material is omitted',
|
|
||||||
array_extent=('ngeom', 4),
|
|
||||||
)
|
|
||||||
wrapped_field_data = struct_field_handler.StructFieldHandler(
|
|
||||||
field, 'MjModel'
|
|
||||||
).generate()
|
|
||||||
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_field_data.definition,
|
|
||||||
("""
|
|
||||||
emscripten::val geom_rgba() const {
|
|
||||||
return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
|
|
||||||
}
|
|
||||||
""".strip()),
|
|
||||||
)
|
|
||||||
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_field_data.binding,
|
|
||||||
'.property("geom_rgba", &MjModel::geom_rgba)',
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_pointer_type_field_for_byte_type(self):
|
|
||||||
"""Test that a pointer type field for a byte type is handled correctly."""
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name='buffer',
|
|
||||||
type=ast_nodes.PointerType(
|
|
||||||
inner_type=ast_nodes.ValueType(name='void'),
|
|
||||||
),
|
|
||||||
doc='main buffer; all pointers point in it (nbuffer bytes)',
|
|
||||||
)
|
|
||||||
wrapped_field_data = struct_field_handler.StructFieldHandler(
|
|
||||||
field, 'MjData'
|
|
||||||
).generate()
|
|
||||||
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_field_data.definition,
|
|
||||||
("""
|
|
||||||
emscripten::val buffer() const {
|
|
||||||
return emscripten::val(emscripten::typed_memory_view(model->nbuffer, static_cast<uint8_t*>(ptr_->buffer)));
|
|
||||||
}
|
|
||||||
""".strip()),
|
|
||||||
)
|
|
||||||
assert (
|
|
||||||
wrapped_field_data.binding
|
|
||||||
== '.property("buffer", &MjData::buffer)'
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_pointer_type_field_for_mj_struct(self):
|
|
||||||
"""Test that a pointer type field for a mj struct is handled correctly."""
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name='element',
|
|
||||||
type=ast_nodes.PointerType(
|
|
||||||
inner_type=ast_nodes.ValueType(name='mjsElement'),
|
|
||||||
),
|
|
||||||
doc='',
|
|
||||||
)
|
|
||||||
wrapped_field_data = struct_field_handler.StructFieldHandler(
|
|
||||||
field, 'MjsTexture'
|
|
||||||
).generate()
|
|
||||||
self.assertEqual(wrapped_field_data.definition, "MjsElement element;")
|
|
||||||
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_field_data.binding,
|
|
||||||
'.property("element", &MjsTexture::element, reference())',
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_field_data.initialization,
|
|
||||||
', element(ptr_->element)',
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_array_type_field(self):
|
|
||||||
"""Test that an array type field is handled correctly."""
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name='gravity',
|
|
||||||
type=ast_nodes.ArrayType(
|
|
||||||
inner_type=ast_nodes.ValueType(name='mjtNum'),
|
|
||||||
extents=(3,),
|
|
||||||
),
|
|
||||||
doc='gravitational acceleration',
|
|
||||||
)
|
|
||||||
wrapped_field_data = struct_field_handler.StructFieldHandler(
|
|
||||||
field, 'MjOption'
|
|
||||||
).generate()
|
|
||||||
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_field_data.definition,
|
|
||||||
("""
|
|
||||||
emscripten::val gravity() const {
|
|
||||||
return emscripten::val(emscripten::typed_memory_view(3, ptr_->gravity));
|
|
||||||
}
|
|
||||||
""".strip()),
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_field_data.binding,
|
|
||||||
'.property("gravity", &MjOption::gravity)',
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_array_field_with_multi_dimensional_array(self):
|
|
||||||
"""Test that multi-dimensional arrays are handled correctly."""
|
|
||||||
field = ast_nodes.StructFieldDecl(
|
|
||||||
name='multi_dim_array',
|
|
||||||
type=ast_nodes.ArrayType(
|
|
||||||
inner_type=ast_nodes.ValueType(name='float'),
|
|
||||||
extents=(3, 4),
|
|
||||||
),
|
|
||||||
doc='description',
|
|
||||||
)
|
|
||||||
wrapped_field_data = struct_field_handler.StructFieldHandler(
|
|
||||||
field, 'MjModel'
|
|
||||||
).generate()
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_field_data.definition,
|
|
||||||
"""
|
|
||||||
emscripten::val multi_dim_array() const {
|
|
||||||
return emscripten::val(emscripten::typed_memory_view(12, reinterpret_cast<float*>(ptr_->multi_dim_array)));
|
|
||||||
}
|
|
||||||
""".strip(),
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
wrapped_field_data.binding,
|
|
||||||
'.property("multi_dim_array", &MjModel::multi_dim_array)',
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_parse_array_extent(self):
|
|
||||||
"""Test that parse_array_extent handles various cases correctly."""
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_handler.parse_array_extent((1, 2), 'MjModel', 'geom_rgba'),
|
|
||||||
'1 * 2',
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_handler.parse_array_extent(
|
|
||||||
(1, 'ngeom'), 'MjModel', 'geom_rgba'
|
|
||||||
),
|
|
||||||
'1 * ptr_->ngeom',
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_handler.parse_array_extent(
|
|
||||||
(1, 'mjConstant'), 'MjModel', 'geom_rgba'
|
|
||||||
),
|
|
||||||
'1 * mjConstant',
|
|
||||||
)
|
|
||||||
|
|
||||||
def test_resolve_extent(self):
|
|
||||||
"""Test that resolve_extent handles various cases correctly."""
|
|
||||||
# for integer just return the number
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_handler.resolve_extent(1, 'MjModel', 'geom_rgba'), '1'
|
|
||||||
)
|
|
||||||
|
|
||||||
# for string that does not start with mj, it's a member of the struct
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_handler.resolve_extent('ngeom', 'MjModel', 'geom_rgba'),
|
|
||||||
'ptr_->ngeom',
|
|
||||||
)
|
|
||||||
|
|
||||||
# when it's MjData and the field is in MJDATA_SIZES, it should use ptr_->
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_handler.resolve_extent('size_value', 'MjData', 'efc_AR'),
|
|
||||||
'ptr_->size_value',
|
|
||||||
)
|
|
||||||
# when it's MjData and the field is not in MJDATA_SIZES,
|
|
||||||
# it should use model->
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_handler.resolve_extent(
|
|
||||||
'size_value', 'MjData', 'data_field'
|
|
||||||
),
|
|
||||||
'model->size_value',
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
struct_field_handler.resolve_extent(
|
|
||||||
'mjConstant', 'MjModel', 'model_field'
|
|
||||||
),
|
|
||||||
'mjConstant',
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
absltest.main()
|
|
||||||
@@ -1,90 +0,0 @@
|
|||||||
# Copyright 2025 DeepMind Technologies Limited
|
|
||||||
#
|
|
||||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
||||||
# you may not use this file except in compliance with the License.
|
|
||||||
# You may obtain a copy of the License at
|
|
||||||
#
|
|
||||||
# http://www.apache.org/licenses/LICENSE-2.0
|
|
||||||
#
|
|
||||||
# Unless required by applicable law or agreed to in writing, software
|
|
||||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
||||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
||||||
# See the License for the specific language governing permissions and
|
|
||||||
# limitations under the License.
|
|
||||||
|
|
||||||
"""Tests for structs_parser."""
|
|
||||||
|
|
||||||
from absl.testing import absltest
|
|
||||||
from introspect import ast_nodes
|
|
||||||
from introspect import structs as introspect_structs
|
|
||||||
from wasm.codegen.helpers import structs_parser
|
|
||||||
from wasm.codegen.helpers import structs_wrappers_data
|
|
||||||
|
|
||||||
|
|
||||||
class StructsParserTest(absltest.TestCase):
|
|
||||||
|
|
||||||
def setUp(self):
|
|
||||||
super().setUp()
|
|
||||||
self.wrapped_structs = structs_parser.generate_wasm_bindings([
|
|
||||||
"mjModel",
|
|
||||||
"mjData",
|
|
||||||
"mjVisualGlobal",
|
|
||||||
"mjVisualQuality",
|
|
||||||
"mjVisual",
|
|
||||||
])
|
|
||||||
|
|
||||||
def test_sort_structs_by_dependency(self):
|
|
||||||
mock_introspect_structs = {
|
|
||||||
"mjA": ast_nodes.StructDecl(
|
|
||||||
name="mjA",
|
|
||||||
declname="mjA",
|
|
||||||
fields=[
|
|
||||||
ast_nodes.StructFieldDecl(
|
|
||||||
doc="", name="b_field", type=ast_nodes.ValueType(name="mjB")
|
|
||||||
)
|
|
||||||
],
|
|
||||||
),
|
|
||||||
"mjB": ast_nodes.StructDecl(
|
|
||||||
name="mjB",
|
|
||||||
declname="mjB",
|
|
||||||
fields=[
|
|
||||||
ast_nodes.StructFieldDecl(
|
|
||||||
doc="", name="c_field", type=ast_nodes.ValueType(name="mjC")
|
|
||||||
)
|
|
||||||
],
|
|
||||||
),
|
|
||||||
"mjC": ast_nodes.StructDecl(name="mjC", declname="mjC", fields=[]),
|
|
||||||
"mjD": ast_nodes.StructDecl(name="mjD", declname="mjD", fields=[]),
|
|
||||||
}
|
|
||||||
with absltest.mock.patch.dict(
|
|
||||||
introspect_structs.STRUCTS, mock_introspect_structs
|
|
||||||
):
|
|
||||||
struct_names = ["mjA", "mjB", "mjC", "mjD"]
|
|
||||||
sorted_names = structs_parser.sort_structs_by_dependency(struct_names)
|
|
||||||
self.assertEqual(sorted_names, ["mjC", "mjD", "mjB", "mjA"])
|
|
||||||
|
|
||||||
def test_generate_wasm_bindings(self):
|
|
||||||
self.assertEqual(self.wrapped_structs["mjModel"].wrap_name, "MjModel")
|
|
||||||
self.assertEqual(self.wrapped_structs["mjData"].wrap_name, "MjData")
|
|
||||||
self.assertEqual(
|
|
||||||
self.wrapped_structs["mjVisualGlobal"].wrap_name, "MjVisualGlobal"
|
|
||||||
)
|
|
||||||
self.assertEqual(
|
|
||||||
self.wrapped_structs["mjVisualQuality"].wrap_name, "MjVisualQuality"
|
|
||||||
)
|
|
||||||
self.assertEqual(self.wrapped_structs["mjVisual"].wrap_name, "MjVisual")
|
|
||||||
self.assertNotEmpty(self.wrapped_structs["mjModel"].wrapped_fields)
|
|
||||||
self.assertNotEmpty(self.wrapped_structs["mjData"].wrapped_fields)
|
|
||||||
self.assertNotEmpty(self.wrapped_structs["mjVisualGlobal"].wrapped_fields)
|
|
||||||
self.assertNotEmpty(self.wrapped_structs["mjVisualQuality"].wrapped_fields)
|
|
||||||
self.assertNotEmpty(self.wrapped_structs["mjVisual"].wrapped_fields)
|
|
||||||
|
|
||||||
def test_generate_wasm_bindings_with_error(self):
|
|
||||||
with self.assertRaises(RuntimeError):
|
|
||||||
structs_parser.generate_wasm_bindings(["mjFakeStruct"])
|
|
||||||
with self.assertRaises(RuntimeError):
|
|
||||||
structs_parser.generate_wasm_bindings(["mjFakeAnonymousStruct"])
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
absltest.main()
|
|
||||||
Reference in New Issue
Block a user